You need to contact eBay for approval:
https://www.ebay.com.au/help/policies/prohibited-restricted-items/adult-items-policy?id=4278
The "Contact Us" link on that page just takes me to a different help page for listing items, though. I have no idea if you need to contact a specific department, or whether these kinds of contact links were always dead ends, or changed when covid hit, but your only option now is to contact eBay CS via chat and hope they know what they're talking about.
